Hydraulic powered stair negotiating wheel chair or uneven terrain negotiating vehicle

ABSTRACT

The vehicle comprising an adjustable length chassis, rotary spider arm wheel assemblies, including rotary peripheral minor wheels, a central propulsion means including a power source, a motor, and a pump which through a hydraulic system of flow dividers, check and control valves &#39;&#39;&#39;&#39;T&#39;&#39;&#39;&#39; and conduits applies a controlled differential action through a hydraulic wheel transmission to the wheel assemblies driving spider arms and rotating the peripheral wheels as required to accomplish a desired maneuver. The vehicle is capable of ascending and descending stairs or negotiating uneven terrain, maneuvering and spinning in place.

United States atent Floyd 1 Feb. 1,1972

[54] HYDRAULIC POWERED STAIR NEGOTIATING WHEEL CHAIR OR UNEVEN TERRAIN NEGOTIATING VEHICLE [72] inventor: Johnnie E. Floyd, 2609 East Side Drive,

Austin, Tex. 78704 [22] Filed: Jan. 27, 1970 [21] Appl.No.: 6,239

[521 0.8. CI. ..180/8 A, 60/53, 280/526 [58] Field of Search ..l80/8, 8 A; 280/526; 60/53 [56] References Cited UNl'lED STATES PATENTS 3,343,518 10/1967 Forsyth et a1. ..180/8 A X 3,450,219 6/1969 Fleming ..l80/8 A 4/1960 King ..l80/8A 3/1966 Flory ..280/5.26

Primary Examiner--Leo Friaglia Attorney-Willard J. Hodges, Jr.

[57] ABSTRACT The vehicle comprising an adjustable length chassis, rotary spider arm wheel assemblies, including rotary peripheral minor wheels, a central propulsion means including a power source, a motor, and a pump which through a hydraulic system of flow dividers, check and control valves T" and conduits applies a controlled differential action through a hydraulic wheel transmission to the wheel assemblies driving spider arms and rotating the peripheral wheels as required to accomplish a desired maneuver. The vehicle is capable of ascending and descending stairs or negotiating uneven terrain, maneuvering and spinning in place.

1 1 Claims, 14 Drawing Figures PATENTED FEB 1 i972 SHEET 1 OF 5 Fl 3 INVENTOR J0 NIE FLQYD olNEY PATENTEDFEa 11372 3,638,745

SHEET 2 BF 5 INVENTOR JOHNIE E. FLOYD BY ATTO NEY PATENTEU FEB H972 SHEET 3 OF 5 6| C} so -D D I 5 CK X E 56 L ea 5s CK 2 54 5% CK X i so FLOW FIG. 8 DIVIDER i? r5| CK 55 FLOW DIVIDER INVENTOR JOHNNIE E. FLOYD ATTORNEY PATENTED FEB 11972- 3338145 SHEET s 0F 5 FORWARD 28/ 37 REVERSE 28/37 LOCKED 28/37 NEUTRAL 28/37 FIG.

INVENTOR JOHNNIE E. FLOYD BYWW% ATTORNEY PATENTEU FEB 1 1972 SHEEY 5 OF 5 B m F FIG l2 INVENTOR JOHNNIE E. FLOYD BY ATTORNEY HYDRAULIC POWERED STAIR NEGOTIATING WHEEL CHAIR R UNEVEN TERRAIN NEGOTIATING VEHICLE The vehicle of this invention is closely related in maneuverability and outer configuration to inventors copending application, Ser. No. 786,674, filed Dec. 24, 1968, entitled Stair Negotiating Wheel Chair or Uneven Terrain Negotiating Vehicle, now U.S. Pat. No. 3,580,344. The general configuration of the chassis, construction and steering means are identical; however, the wheel transmission and internal construction of the vehicle and propulsion means are vastly different. The above referred to copending application incorporated a wheel transmission which is a positive mechanical gear drive utilizing gear differentials and clutch means for controlled operation.

The device of this invention incorporates hydraulic propulsion and control means. The construction can be summarized as comprising a power source propelling a hydraulic pump which provides a pressure source of fluid to the system. The fluid through flow control valve, flow dividers including selectively operated crossfeed valves provides propulsion fluid to the wheel assemblies. Hydraulic T conduits serve as differentials which through a system of control valves, which may be rotary two position or multiple position slide block design, control hydraulic climb and roll motors which accomplish the desired maneuvers. The overall combination of the device drives the spider arms or major wheel assemblies and the peripheral wheels or minor wheel assemblies by a controlled differential function, which accomplishes the ascend or descend maneuver in the safest manner possible with the lowest possible amount of potential energy.

The vehicle will roll either forward or reverse until a peripheral wheel strikes a riser or obstruction, the hydraulic differential then causes the spider arms or major wheels to rotate and step up and over an obstruction then roll forward until the peripheral wheels contact a new obstruction. In descending the directional flow of the propulsion fluid is reversed through a system of valves to drive the peripheral wheels or minor wheels in reverse direction while the spider arms or major wheels are driven in the forward direction. This mode of operation which results in the vehicless stepping down the stairs or over an obstacle is accompanied by a rolling back or reversing of the peripheral wheels to seat against the stair riser or obstacle followed by a step forward by the major wheels or spider arms when the peripheral wheels are securely seated. Check valves, pressure control valve, flow dividers and spring loaded solenoid operated multipassage valves selectively place the major wheels or minor wheels in lock, neutral or drive in forward or reverse direction to accomplish all of the desired maneuvers.

It is recognized that the inventor's copending application mechanically accomplishes similar functions and maneuvers. The desire to simplify the design and reduce the number of parts led the inventor to conceive of and design this new and improved hydraulic version. The added flexibility of the devices of this invention permits ascending and descending stairs in the forward or reverse direction. The design is particularly clean in that all conduits, valves and components may be internal of the chassis or wheel assemblies. The hydraulic embodiment permits great flexibility of design in that the device in a relatively small configuration serves as a stair negotiating wheel chair whereas a larger or monstrous configuration is capable of negotiating treacherous terrain. A system of positive relatively simple control hydraulic valves permit a wide variety of control maneuvers.

For a detailed description of the construction of the operation of the preferred embodiment of the device of this invention your attention is invited to attached several views wherein identical reference numerals are used throughout the several views referred to identical or equivalent components.

FIG. 1 is a side elevation of the vehicle.

FIG. 2 is a front view of a wheel assembly and associated wheel transmission.

FIG. 3 is a fragmented sectional view of a wheel assembly and associated wheel transmission taken substantially on line 33 of FIG. 2 sectionalized on a plane passing in the direction of the arrows.

FIG. 4 is a sectional view of a wheel transmission taken sub stantially on line 44 of FIG. 3 looking in the direction of the arrows showing the roll motor.

FIG. 5 is a sectional view of a wheel transmission taken substantially on line 5-5 of FIG. 3 looking in the direction of the arrows showing the climb motor.

FIG. 6 is a sectional view of wheel transmission taken substantially on line 6-6 of FIG. 3 looking in the direction of the arrows.

FIG. 7 is a schematic diagram of the hydraulic system and valves illustrating the flow system in the chassis of the vehicle including the flow in one wheel assembly transmission with the flow path of the climb and roll motors utilizing the preferred rotary valving system.

FIG. 8 is a fragmented schematic of the flow pattern within a wheel assembly hydraulic transmission utilizing the alternative slide block valve system.

FIG. 9 is a comparative schematic diagram illustrating the flow pattern within the wheel assembly hydraulic transmission of the preferred rotary valving and the alternative slide block method of valving.

FIG. 10 is a sectional partially fragmented view of a wheel assembly transmission trunnion and yoke taken substantially on line 10-10 of FIG. 2, sectionalized on a plane passing in the direction of the arrows.

FIG. 1 l is a detailed sectional view of a control valve 60.

FIG. 12 is a detailed sectional view of a flow regulator valve 41.

FIG. 13 is a sectional view of a two passage two position four-way control valve and the associated spring loaded solenoid.

FIG. 14 is a sectional view of a one passage two position three-way control valve and the associated spring loaded solenoid.

With continued reference to the drawings the general configuration of the preferred embodiment of the device of this invention is illustrated in FIG. 1. The device is assembled on a chassis 15 upon which is mounted a chair or passenger seat 16. Integral with and mounted on the chassis I5 is a motor [7 driving a hydraulic pump 18. In the wheel chair configuration a battery 19 powers an electrical motor 17 which is speed controlled by a potentiometer not shown. The propulsion fluid from the hydraulic pump 18 passes through conduit means, and valving means to the hydraulic wheel transmissions 21 which are rotatably and steerably mounted on the four corners of the chassis 15 by means of yoke 20 are hydraulic wheel transmissions 21 to which is rotatably and operably secured the spider arm wheel assemblies 22. The wheel transmissions 21 may be secured to the yoke 20 by means of a fluid conducting upper 23 and lower 24 trunnion, FIG. 10. The chassis 15 of this device is adjustable as to length and the wheel transmissions 21 are pivotally mounted on the yokes 20 with appropriate stop means. The steering means is also releasable to facilitate maneuvers in place.

For the details of the construction of the hydraulic transmission 21 and the spider arm wheel assemblies 22 reference is made to FIGS. 2, 3, 4, 5 and 6. The hydraulic wheel transmission 21 is sealed in a housing wherein all components are rotatably mounted in suitable bearing means. Roll gear 25 is keyed to roll shaft 26, a roll idle gear 27 may be suitably cased and constructed to comprise a geared hydraulic roll motor 28. At the opposite end of the roll shaft 26 is keyed roll sprockets 29, which by means of cogged belt or link chain 30 drive wheel sprockets 31 which are keyed to and rotate wheel drive shafts 32 to which is secured the peripheral wheels 33.

Keyed to the inboard section of the spider arms 34 is the spider-arm gear 35 mounted for rotation in the housing. Meshed with and adjacent to the spider-arm gear 35 is spider idle gear 36. As previously stated with reference to the roll motor 28, suitable ducting and housing can produce a geared hydraulic spider or climb motor 37 from this combination of gears.

An alternative or modified construction is possible by attaching one separate positive displacement hydraulic motor (not shown) to the equivalent of roll idle gear 27 and another separate positive displacement hydraulic motor to the spider idle gear 36 and propelling the vehicle of this invention by this alternative motor means.

It will also appear in those skilled in the art that independent electric motors may be used also to propel the roll idle gear 27 and the peripheral wheels 33. Similarly, an electric motor may be employed to propel the spider idle gear 36 and the spider arms 34. A central source of electric power is possible as well as electronic circuitry and switches to provide the differential and control functions. Other equivalent constructions are feasible.

The rotation of the spider-arm gear 35 rotates the entire spider-arm wheel assembly 22 carrying the peripheral wheels 33 in a stepping like action.

The construction of an embodiment of the roll motor 28 is illustrated in FIG. 4. A quite similar structure is possible for the spider arm or climb motor 37 illustrated in FIG. 5. The inner and outer roll sprockets 29 and the associated peripheral wheel 33 drive means are identical. Referring to FIG. 6, roll sprockets 29 carrying a cog belt or link drive chain 30 which positively engage two opposite wheel sprockets 31. To tension the chain 30 and increase the angle of contact with the roll sprockets 29 two chain idle sprockets 38 are utilized positioned opposite and adjacent to each of the roll sprockets 29.

Although construction of the hydraulic wheel transmission 21 and the spider-arm wheel assembly 22 of this invention possess some similarity in construction and marked similarity in function to the inventors copending application, Ser. No. 786,674, the propulsion and control means are widely divergent. ln regards to the construction of the hydraulic circuits power means and control components reference is particularly made to schematic FIGS. 7, 8, 9 and the detailed FIGS. 11,12, 13 and 14.

The central propulsion means are mounted on the chassis. The sealed enclosed sump 39 provides the hydraulic fluid for the system which is connected by supply conduit 40 to the pump 18 the flow passes through hydraulic flow regulator valve 41 H0. 12. This valve might well be called the main servo valve 41 and is connected with sump regulator line 42 and pump regulator line 43 activating the valve 41. The fluid flows through the chassis T conduit 44 and differentially supplies propulsion fluid to the front flow divider 45 through the front variable flow valve 46. The rear flow divider 47 is supplied through a rear variable flow valve 48.

The purposes of the front variable flow valve 46 and the rear variable flow valve 48 are to vary and regulate the relative flow of propulsion fluid provided to the front or rear of the vehicle when the vehicle is in a climb attitude. in such a position, the load on the forward portion of the vehicle is reduced to such an extent that the forward wheel assembly 22 would oscillate in place. The variable flow valves 46 and 48 are utilized to equalize the flow to the front or rear consistent with the load and thus oscillation is avoided.

The structure of these variable flow valves 46 and 48 might be quite sophisticated of remote control design, however, a valve of a design similar to the well-known conventional water or gas valve would function in this configuration and requires no detailed description.

Forward of the front flow divider 45 is an on off front crossfeed valve 49 which is normally closed in that the crossfeed is utilized when powering only one front wheel assembly for maneuvering. A similar rear crossfeed valve 50 is also located aft of the rear flow divider 47.

Fluid flows from the flow dividers through spider wheel conduits 51 of which hollow frame conduits and upper trunnion 23 FIG. constitutes a portion. The flow from the upper trunnion 23 leads into the transmission T" conduit 53, which hydraulically serves as a differential between the roll motor 28 and the spider or climb motor 37.

The hydraulic circuitry and the valving and construction are identical for the four spider wheel assemblies; accordingly.

only one will be described in detail and for this purpose the right front has been selected. The circuitry to the roll motor 28 is through roll check valve 54. The direction of flow for clockwise forward or counterclockwise reverse is controlled by a four conduit two position two passage roll control valve 55. The flow in a forward roll position is schematically illus trated as flowing through forward valve 56 driving the roll motor 28 with the fluid passing through the reverse valve 57 through a passage in the roll control valve 55 to the return sump conduit 58 which leads through a hollow lower trunnion 24 to the sump 39.

The hydraulic circuitry of the spider or climb motor 37 is identical except for the addition of the climb servo valve 60 supply control conduit 61 and sump conduit 62. The function of this valve 60, FIG. 11 is primarily applicable in descending stairs. The spider or climb motor 37 can in such an operational environment function as a pump reducing the pressure in the system leading into the motor 37. In such a situation, climb servo valve 60 which is a spring loaded valve automatically operated by pressure variation is caused to partially close restoring pressure at transmission T conduit 53 maintaining pressure to roll motor 28 to insure contact by the peripheral wheel 33 with a stair riser.

FIG. 8 illustrates a partial schematic flow chart for an equivalent system utilizing a slide block valve system 63. The preferred system is the rotary multiple passage multiconduit valves as above described. However, a valve of slide block design 61 can be utilized to accomplish the same results as illustrated in FIG. 9. The roll motor 28 may be driven forward, reverse, locked or placed in neutral.

The schematic of FIG. 9 in the forward position illustrates a flow of propulsion fluid directly to the motor 28 or 37 and then to the sump 39. In the rotary valve configuration, fluid passes through valves 55 through valve 56 through the motor 28, 37 through valve 57 and 55 to the sump 39.

The reverse function is accomplished by utilizing the crossfeed passage in slide blocks valve 63 which quite obviously reverses the direction of flow through the motor 28 or 37. A rotation of valve 55, with no change in valves 56 or 57 reverses the flow in the rotary valve configuration.

To place the motors in a locked position, pressure is applied to the motor 28 or 37 and the flow to the sump 39 is blocked. The locked passage of slide blocks valve 63 is. so designed. in the rotary valve configuration, the rotation of valve 56, 90 will accomplish a similar result.

A neutral action of a motor 28 or 37 is accomplished by so positioning the slide blocks valve 63 to isolate the passage of the block and motor 28 or 37 with its internal conduits to permit flow in either direction.

Such a result is accomplished in the rotary valve system by rotary valves 56 and 57 to such a position as to isolate the motor 28 and 38 from propulsion fluid and sump 39. The internal loop thus permits fluid flow and motor 28 or 37 rotation freely in either direction.

The operation of the device of this invention is quite similar to copending application Ser. No. 786,674. When the roll motor 28 and the spider or climb motor 37 are driven in a clockwise direction the vehicle will roll forward on the peripheral wheels 33 until a stair riser or obstacle is contacted restricting the movement of the roll motor 28. The restriction in the flow of hydraulic fluid through transmission T" conduit 53 results in a differential action in the T conduit 53 driving the spider or climb motor 37 causing the rotation of spider arm 34 in effect causing the spider-arm wheel assembly 22 to step up. The increased load on the spider arm 34, after the step, causes the differential forces in the transmission 'f" conduit 53 again to activate the roll motor 28. The motor which is faced with the least resistive load rotates. The differential function is identical.

in descending one peripheral wheel 33 is placed beyond the riser and roll control valve 55 and is shifted by energizing the solenoid 64 rotating roll control valve 55. 90 which because of the multipassage construction reverses the direction of rotation of roll motor 28. This reverse direction causes the vehicle to roll backward until a riser or obstacle is firmly contacted at which time the differential function of the transmission T" conduit 53 activates the spider or climb motor 37 causing the wheel assembly 22 to step down the stairs.

The primary operation of the vehicle has just been described. Variations of maneuvers are capable of accomplishment by using the forward crossfeed valve 49 and rear crossfeed valve 50. The activation of these valves 49 and 50 which are selectively operated by manual control means will permit variable flows to diagonally opposite wheel assemblies 22 permitting the varying combinations of maneuvers. Driving diagonally opposite wheel assemblies 22 in opposite directions results in a spinning in place of the vehicle. The flexibility of valving of the design of this invention permits not only the relative infinite maneuvers of the vehicle of copending application Ser. No. 786,674 but in addition thereto all maneuvers may be accomplished in either a forward or reverse direction by the vehicle.

Variations of arrangements of components of this invention and positioning of the T conduits valves and motors will be apparent to anyone skilled in the art without departing from the spirit and scope of this invention as defined in the appended claims.

lclaim:

l. A hydraulic stair negotiating wheelchair or uneven terrain negotiating vehicle comprising:

a. central chassis member having a fore and aft section,

a hydraulic fluid sump mounted on said central chassis,

a hydraulic pump operably connected to said fluid sump,

a motor driving said hydraulic pump,

a chassis hydraulic conduit means conductively connected to said hydraulic pump,

f. said hydraulic conduit including a T conduit differentially supplying fluid to,

g. multiple spider-arm wheel assemblies rotatably mounted on the fore and aft section of said chassis,

1. said multiple spider-arm wheel assemblies comprising rotary spider-arm assembly means,

2. peripheral wheel means, and

3. a fluid motor adapted to selectively drive said spiderarm wheel assemblies and said peripheral wheels, h. a wheel assembly T" conduit constructed and arranged to differentially supply hydraulic fluid to said spider-arm wheel assembly means and said peripheral wheel means,

and

i. a vehicle hydraulic conduit means connecting all said hydraulic components.

2. The invention of claim 1 including a hydraulic wheel transmission operably driving said spider-arm wheel assembly means and said peripheral wheel means.

3. The invention of claim 2 wherein said spider-arm wheel assemblies include:

a. a hydraulic motor driving said spider-arm wheel assembly means and,

b. a hydraulic motor driving said peripheral wheel means.

4. The invention of claim 1 wherein said hydraulic conduit means includes valving means.

5. The invention of claim 1 wherein said hydraulic conduit means includes:

a. an operably associated regulator valve and b. an operably associated control valve.

6. The invention of claim 5 wherein said control valve is a rotary valve.

7. The invention of claim 5 wherein said control valve is a slide block valve.

8. In a stair negotiating wheelchair or uneven terrain negotiating vehicle, a spider-arm wheel assembly comprising:

a. a hydraulic wheel transmission rotatably mounted on,

b. a central shaft means,

c. a multiplicity of spider arms projecting outward from said central shaft means,

[1. a peripheral wheel mounted for rotation at the outer extremity of each said spider arm, e. a hydraulic propulsion means including a hydraulic conduit constructed and arranged to drive in rotation said spider arm and said peripheral wheel and f. a hydraulic T" conduit constructed and arranged to differentially supply hydraulic propulsion fluid to said hydraulic propulsion means for said spider arm and said hydraulic propulsion means for said peripheral wheel.

9. The invention of claim 8 wherein said hydraulic propulsion means includes a rotary control valve conductively integral with said hydraulic conduit.

10. The invention of claim 8 wherein said hydraulic propulsion means includes a slide block control valve conductively integral with said hydraulic conduit.

11. The invention of claim 8 wherein said hydraulic propulsion means includes a regulator valve conductive ly integral with said hydraulic circuitry. 

1. A hydraulic stair negotiating wheelchair or uneven terrain negotiating vehicle comprising: a. central chassis member having a fore and aft section, b. a hydraulic fluid sump mounted on said central chassis, c. a hydraulic pump operably connected to said fluid sump, d. a motor driving said hydraulic pump, e. a chassis hydraulic conduit means conductively connected to said hydraulic pump, f. said hydraulic conduit including a ''''T'''' conduit differentially supplying fluid to, g. multiple spider-arm wheel assemblies rotatably mounted on the fore and aft section of said chassis,
 1. said multiple spider-arm wheel assemblies comprising rotary spider-arm assembly means,
 2. peripheral wheel means, and
 3. a fluid motor adapted to selectively drive said spider-arm wheel assemblies and said peripheral wheels, h. a wheel assembly ''''T'''' conduit constructed and arranged to differentially supply hydraulic fluid to said spider-arm wheel assembly means and said peripheral wheel means, and i. a vehicle hydraulic conduit means connecting all said hydraulic components.
 2. peripheral wheel means, and
 2. The invention of claim 1 including a hydraulic wheel transmission operably driving said spider-arm wheel assembly means and said peripheral wheel means.
 3. The invention of claim 2 wherein said spider-arm wheel assemblies include: a. a hydraulic motor driving said spider-arm wheel assembly means and, b. a hydraulic motor driving said peripheral wheel means.
 3. a fluid motor adapted to selectively drive said spider-arm wheel assemblies and said peripheral wheels, h. a wheel assembly ''''T'''' conduit constructed and arranged to differentially supply hydraulic fluid to said spider-arm wheel assembly means and said peripheral wheel means, and i. a vehicle hydraulic conduit means connecting all said hydraulic components.
 4. The invention of claim 1 wherein said hydraulic conduit means includes valving means.
 5. The invention of claim 1 wherein said hydraulic conduit means includes: a. an operably associated regulator valve and b. an operably associated control valve.
 6. The invention of claim 5 wherein said control valve is a rotary valve.
 7. The invention of claim 5 wherein said control valve is a slide block valve.
 8. In a stair negotiating wheelchair or uneven terrain negotiating vehicle, a spider-arm wheel assembly comprising: a. a hydraulic wheel transmission rotatably mounted on, b. a central shaft means, c. a multiplicity of spider arms projecting outward from said central shaft means, d. a peripheral wheel mounted for rotation at the outer extremity of each said spider arm, e. a hydraulic propulsion means including a hydraulic conduit constructed and arranged to drive in rotation said spider arm and said peripheral wheel and f. a hydraulic ''''T'''' conduit constructed and arranged to differentially supply hydraulic propulsion fluid to said hydraulic propulsion means for said spider arm and said hydraulic propulsion means for said peripheral wheel.
 9. The invention of claim 8 wherein said hydraulic propulsion means includes a rotary control valve conductively integral with said hydraulic conduit.
 10. The invention of claim 8 wherein said hydraulic propulsion means includes a slide block control valve conductively integral with said hydraulic conduit.
 11. The invention of claim 8 wherein said hydraulic propulsion means includes a regulator valve conductively integral with said hydraulic circuitry. 